5 papers
Polyphony: Diffusion-based Dual-Hand Action Segmentation with Alternating Vision Transformer and Semantic Conditioning
Hao Zheng, Hu Wang, Tiantian Zheng +2
Dual-hand action segmentation, densely predicting actions for both hands from untrimmed videos, is essential for understanding complex bimanual activities. However, it poses severa…
COG: Confidence-aware Optimal Geometric Correspondence for Unsupervised Single-reference Novel Object Pose Estimation
Yuchen Che, Jingtu Wu, Hao Zheng +1
Estimating the 6DoF pose of a novel object with a single reference view is challenging due to occlusions, view-point changes, and outliers. A core difficulty lies in finding robust…
PinPoint3D: Fine-Grained 3D Part Segmentation from a Few Clicks
Bojun Zhang, Hangjian Ye, Hao Zheng +4
Fine-grained 3D part segmentation is crucial for enabling embodied AI systems to perform complex manipulation tasks, such as interacting with specific functional components of an o…
InfiniteWorld: A Unified Scalable Simulation Framework for General Visual-Language Robot Interaction
Pengzhen Ren, Min Li, Zhen Luo +15
Realizing scaling laws in embodied AI has become a focus. However, previous work has been scattered across diverse simulation platforms, with assets and models lacking unified inte…
All Robots in One: A New Standard and Unified Dataset for Versatile, General-Purpose Embodied Agents
Zhiqiang Wang, Hao Zheng, Yunshuang Nie +11
Embodied AI is transforming how AI systems interact with the physical world, yet existing datasets are inadequate for developing versatile, general-purpose agents. These limitation…